Electromechanically controlled braking redundancy method, device and processor

Abstract

The application discloses an electric control mechanical brake redundancy method, device and processor. The method can comprise: detecting a working state of a main micro control unit; in response to the working state being that the main micro control unit controls an electric control mechanical brake module, prohibiting a subsidiary micro control unit from controlling the electric control mechanical brake module; in response to the working state being that the main micro control unit fails, controlling the subsidiary micro control unit to control the electric control mechanical brake module; and in response to the working state being that the main micro control unit fails and the subsidiary micro control unit fails, controlling the electric control mechanical brake module to enter a degraded mode, and controlling the electric control mechanical brake module to execute a failure degradation strategy in the degraded mode, so that an electric control mechanical brake redundancy system executes a service brake function and a parking brake function. The application solves the technical problem of slow response speed of a brake system in a vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to an electromechanical braking redundancy method, device, and processor. Background Technology

[0002] Currently, the mainstream braking systems for vehicles are hydraulic or electro-hydraulic hybrid systems. However, due to the lack of mature redundant architecture brake-by-wire methods, there is a technical problem of slow response speed in vehicle braking systems.

[0003] There is currently no effective solution to the technical problem of slow braking system response in the aforementioned vehicles. Summary of the Invention

[0004] This invention provides an electromechanical braking redundancy method, apparatus, and processor to at least solve the technical problem of slow response speed of braking systems in vehicles.

[0005] According to one aspect of the invention, an electromechanical braking redundancy method is provided. This method can be applied to an electromechanical braking redundancy system, which includes multiple electronic control units (ECUs) and multiple electromechanical braking modules. The ECUs include at least a primary microcontroller unit (MCU) and an auxiliary MCU. The method may include: detecting the operating state of the primary MCU; in response to the primary MCU controlling the electromechanical braking module, disabling the auxiliary MCU from controlling the electromechanical braking module; in response to the primary MCU failing, controlling the auxiliary MCU to control the electromechanical braking module; and in response to both the primary and auxiliary MCUs failing, controlling the electromechanical braking module to enter a degraded mode, and controlling the electromechanical braking module to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system performs service braking and parking braking functions. The failure degradation strategy represents the mapping relationship between failed components in the electromechanical braking redundancy system and the vehicle braking strategy.

[0006] Optionally, controlling the electromechanical braking module may include applying a service brake or a parking brake to the electromechanical braking module.

[0007] Optionally, applying parking brake to the electromechanical braking module may include: in response to a failure of the main microcontroller unit, controlling the auxiliary microcontroller unit to receive a vehicle status signal, wherein the vehicle status signal includes at least a parking gear signal; and based on the parking gear signal in the vehicle status signal, performing an electronic parking brake function on the electronic control unit.

[0008] Optionally, controlling the electromechanical braking module to execute a failure degradation strategy in degradation mode may include: based on the failed component in the failure degradation strategy, executing the corresponding service braking function and parking braking function in the electromechanical braking redundancy system, wherein the failed component is used to charge the electronic control unit and the electromechanical braking module; and controlling the vehicle's service braking deceleration or parking braking slope angle in response to the service braking function and the parking braking function.

[0009] Optionally, the failed components include at least a first battery and a second battery, and the method further includes: supplying power to the main microcontroller unit, the auxiliary microcontroller unit, and the electromechanical braking module through the first battery and the second battery, wherein the multiple electromechanical braking modules are connected to each other through multiple power lines.

[0010] Optionally, multiple electronic control units and multiple electromechanical braking modules communicate with each other via a controller local area network (CLAN) bus, which includes at least multiple buses.

[0011] According to one aspect of the present invention, an electromechanical braking redundancy device is provided, which is applied to an electromechanical braking redundancy system. The system includes multiple electronic control units and multiple electromechanical braking modules, wherein the multiple electronic control units include at least a main microcontroller unit and an auxiliary microcontroller unit. The device may include: a detection unit for detecting the operating state of the main microcontroller unit; a first control unit for controlling the electromechanical braking module in response to the main microcontroller unit controlling the electromechanical braking module and prohibiting the auxiliary microcontroller unit from controlling the electromechanical braking module; a second control unit for controlling the auxiliary microcontroller unit to control the electromechanical braking module in response to the failure of the main microcontroller unit; and an execution unit for controlling the electromechanical braking module to enter a degraded mode in response to the failure of both the main and auxiliary microcontroller units, and controlling the electromechanical braking module to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system performs service braking and parking braking functions, wherein the failure degradation strategy represents the mapping relationship between failed components in the electromechanical braking redundancy system and the vehicle braking strategy.

[0012] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute the electromechanical braking redundancy method of the present invention.

[0013] According to another aspect of the present invention, a processor is also provided for running a program, wherein the program executes the electromechanical braking redundancy method of the present invention during runtime.

[0014] According to another aspect of the present invention, an electronic device is also provided. The electronic device includes one or more processors and a memory, the memory storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the electromechanical braking redundancy method of the present invention.

[0015] In this embodiment of the invention, the electromechanical braking redundancy method is applied to an electromechanical braking redundancy system, which includes multiple electronic control units and multiple electromechanical braking modules. The multiple electronic control units include at least a main microcontroller unit and an auxiliary microcontroller unit. The method includes: detecting the operating state of the main microcontroller unit; responding to the operating state that the main microcontroller unit controls the electromechanical braking module, and prohibiting the auxiliary microcontroller unit from controlling the electromechanical braking module; responding to the operating state that the main microcontroller unit fails, controlling the auxiliary microcontroller unit to control the electromechanical braking module; responding to the operating state that both the main microcontroller unit and the auxiliary microcontroller unit fail, controlling the electromechanical braking module to enter a degraded mode, and controlling the electromechanical braking module to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system can perform service braking and parking braking functions. The failure degradation strategy is used to represent the mapping relationship between failed components in the electromechanical braking redundancy system and the vehicle braking strategy. In other words, this embodiment of the invention is based on detecting the working state of the main microcontroller unit. If the working state is that the main microcontroller unit controls the electromechanical braking module, then the auxiliary microcontroller unit is prohibited from controlling the electromechanical braking module. If the working state is that the main microcontroller unit fails, then the auxiliary microcontroller unit can be controlled to control the electromechanical braking module. If the working state is that both the main microcontroller unit and the auxiliary microcontroller unit fail, then the electromechanical braking module can be controlled to enter a degraded mode. In the degraded mode, the electromechanical braking module executes a failure degrade strategy, enabling the redundant electromechanical braking system to further execute the service braking function and the parking braking function. This solves the technical problem of slow response speed of the braking system in the vehicle and achieves the technical effect of improving the response speed of the braking system in the vehicle. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a flowchart of an electromechanical braking redundancy method according to an embodiment of the present invention;

[0018] Figure 2This is a schematic diagram of an EMB system structure according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of an electromechanical braking redundancy device according to an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Example 1

[0023] According to an embodiment of the present invention, an electromechanical braking redundancy method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] The following describes the redundancy method for electromechanical braking according to an embodiment of the present invention.

[0025] This electromechanical braking redundancy method can be applied to an electromechanical braking redundancy system, which includes multiple electronic control units and multiple electromechanical braking modules. The multiple electronic control units include at least a main microcontroller unit and an auxiliary microcontroller unit.

[0026] Optionally, the Electronic Control Unit (ECU) includes at least a main Microcontroller Unit (MCU) and an auxiliary microcontroller unit. The main MCU and auxiliary MCU can serve as the core control modules for application-layer algorithms, and may include functions such as anti-lock braking system (ABS), traction control system (TCS), and vehicle dynamics control (VDC), as well as various additional functions.

[0027] Optionally, the multiple electromechanical brake (EMB) modules include at least four EMB modules. The EMB modules are used to drive the brushless motor, and when the main microcontroller and the auxiliary microcontroller fail simultaneously, the EMB modules can be controlled to enter a degraded mode.

[0028] Figure 1 This is a flowchart of an electromechanical braking redundancy method according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0029] Step S101: Detect the working status of the main microcontroller unit.

[0030] In the technical solution provided in step S101 of the present invention, the working state can be either the main microcontroller unit controlling the electromechanical braking module, or the main microcontroller unit failing. This is merely an example and is not intended to be specific.

[0031] In this embodiment, the operating state of the main microcontroller unit can be detected. For example, the detected operating state of the main microcontroller unit is that it controls the electromechanical braking module, or the detected operating state of the main microcontroller unit is that it has failed. It should be noted that this is only an example of the detectable operating states of the main microcontroller unit, and no specific limitation is made to the detectable operating states of the main microcontroller unit.

[0032] In step S102, in response to the working state, the main microcontroller unit controls the electromechanical braking module, and the auxiliary microcontroller unit is prohibited from controlling the electromechanical braking module.

[0033] In the technical solution provided by step S102 of the present invention, prohibiting the auxiliary microcontroller unit from controlling the electromechanical braking module can render the auxiliary microcontroller unit inactive.

[0034] In this embodiment, based on the fact that the main microcontroller unit detected in step S101 is controlling the electromechanical braking module, the auxiliary microcontroller unit is prohibited from controlling the electromechanical braking module. For example, when the main MCU controls the EMB module, the auxiliary MCU does not function. It should be noted that this is only an example of the specific processing method when the main microcontroller unit controls the electromechanical braking module, and does not specifically limit the specific method when the main microcontroller unit controls the electromechanical braking module.

[0035] In step S103, in response to the failure of the main microcontroller unit in the working state, the auxiliary microcontroller unit is controlled to control the electromechanical braking module.

[0036] In the technical solution provided by step S103 of the present invention, if the working state of the main microcontroller detected in step S101 indicates that the main microcontroller has failed, then the auxiliary microcontroller can be controlled to control the electromechanical braking module. For example, the auxiliary MCU can monitor the status of the main MCU, and when it detects that the main MCU has failed, the auxiliary MCU will replace the main MCU in controlling the four-wheel EMB.

[0037] It should be noted that this is only a preferred embodiment for controlling the electromechanical braking module when the main microcontroller unit fails. All methods of controlling the electromechanical braking module when the main microcontroller unit fails are within the protection scope of this invention, and will not be listed here.

[0038] In step S104, in response to the failure of both the main microcontroller and the auxiliary microcontroller in the working state, the electromechanical braking module is controlled to enter the degraded mode, and the electromechanical braking module is controlled to execute the failure degrade strategy in the degraded mode so that the electromechanical braking redundant system can perform the service braking function and the parking braking function.

[0039] In the technical solution provided by step S104 of the present invention, the failure degradation strategy is used to represent the mapping relationship between the failed component in the electromechanical braking redundancy system and the vehicle braking strategy. For example, when the failed component in the electromechanical braking redundancy system is the first battery or the second battery, the corresponding vehicle braking strategy is a deceleration of 0.5 meters per square second (m / s²). 2 (i.e., g), and the parking brake function must be normal, and the slope of the parking ramp must be greater than or equal to 30%. This is only an example and is not a specific limitation.

[0040] Optionally, failure degradation strategies can include single-point failure strategies and multi-point failure strategies. In a single-point failure strategy, the failed component is relatively singular, such as the failure of the first battery, the second battery, the main MCU, or the auxiliary MCU. In a multi-point failure strategy, the failed component is generally at least two components in the vehicle that have failed, such as the simultaneous failure of the first and second batteries, or the simultaneous failure of the main MCU and the auxiliary MCU. This is merely an illustrative example of failure degradation strategies and does not impose specific limitations on them.

[0041] In this embodiment, if both the main microcontroller unit (MCU) and the auxiliary MCU fail, the electromechanical braking module (EMB) can be controlled to enter a degraded mode. Furthermore, the EMB executes a failure degradation strategy in this mode, allowing the redundant EMB system to perform both service and parking brake functions. For example, if both the MCU and auxiliary MCU fail simultaneously, the driver needs to pull the emergency brake button. This controls the four auxiliary EMBs to enter degraded mode and execute the failure degradation strategy, applying a small clamping force to bring the vehicle to a stop.

[0042] It should be noted that this is only a preferred embodiment for controlling the electromechanical braking module when both the main microcontroller unit and the auxiliary microcontroller unit fail simultaneously. It does not specifically limit the process and method of controlling the electromechanical braking module when both the main microcontroller unit and the auxiliary microcontroller unit fail simultaneously. All processes and methods of controlling the electromechanical braking module when both the main microcontroller unit and the auxiliary microcontroller unit fail simultaneously are within the protection scope of this invention, and will not be listed here.

[0043] In steps S101 to S104 of the present invention, the electromechanical braking redundancy method is applied to an electromechanical braking redundancy system. This system includes multiple electronic control units (ECUs) and multiple electromechanical braking modules. The ECUs include at least a main microcontroller unit (MCU) and an auxiliary MCU. The method includes: detecting the operating state of the main MCU; responding to the operating state that the main MCU controls the electromechanical braking module, and prohibiting the auxiliary MCU from controlling the electromechanical braking module; responding to the operating state that the main MCU fails, controlling the auxiliary MCU to control the electromechanical braking module; responding to the operating state that both the main MCU and the auxiliary MCU fail, controlling the electromechanical braking module to enter a degraded mode, and controlling the electromechanical braking module to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system can perform service braking and parking braking functions. The failure degradation strategy represents the mapping relationship between failed components in the electromechanical braking redundancy system and the vehicle braking strategy. In other words, this embodiment of the invention is based on detecting the working state of the main microcontroller unit. If the working state is that the main microcontroller unit controls the electromechanical braking module, then the auxiliary microcontroller unit is prohibited from controlling the electromechanical braking module. If the working state is that the main microcontroller unit fails, then the auxiliary microcontroller unit can be controlled to control the electromechanical braking module. If the working state is that both the main microcontroller unit and the auxiliary microcontroller unit fail, then the electromechanical braking module can be controlled to enter a degraded mode. In the degraded mode, the electromechanical braking module executes a failure degrade strategy, enabling the redundant electromechanical braking system to further execute the service braking function and the parking braking function. This solves the technical problem of slow response speed of the braking system in the vehicle and achieves the technical effect of improving the response speed of the braking system in the vehicle.

[0044] The method described in this embodiment will be further described below.

[0045] As an optional embodiment, controlling the electromechanical braking module includes: applying the service brake or parking brake to the electromechanical braking module.

[0046] In this embodiment, the service brake can include steady-state and unsteady-state braking. The steady-state braking involves the main MCU controlling the motors of the four EMB modules to bring the vehicle to a stop. The unsteady-state braking includes functions such as ABS, TCS, and VDC, with the four EMB modules controlled by slip ratio monitoring and adjustment to ensure vehicle stability. The parking brake can lock the EMB modules using a mechanical locking mechanism. This is merely an example of service or parking braking and does not specifically limit the application of either.

[0047] In this embodiment, controlling the electromechanical braking module can involve applying the service brake or the parking brake to stop the vehicle. This is merely an example of how to control the electromechanical braking module and does not specifically limit the method of control.

[0048] As an optional embodiment, the parking brake of the electromechanical braking module includes: in response to the failure of the main microcontroller unit, controlling the auxiliary microcontroller unit to receive a vehicle status signal, wherein the vehicle status signal includes at least a parking gear signal; and performing an electronic parking brake function on the electronic control unit based on the parking gear signal in the vehicle status signal.

[0049] In this embodiment, the vehicle status signal can be a signal that identifies the current state of the vehicle, such as a parking gear signal, ignition switch signal, gear position indicator signal, driver status signal, instrument display signal, etc. This is merely an example of a vehicle status signal and does not impose any specific limitations on it.

[0050] In this embodiment, when the main microcontroller fails, the auxiliary microcontroller can be controlled to receive the vehicle status signal. If the parking signal in the vehicle status signal is obtained here, the electronic parking brake function can be executed on the electronic control unit, thereby achieving the purpose of parking the vehicle.

[0051] For example, when a vehicle is redundantly parked, it may be necessary to execute the P gear (parking gear) automatic clamping electronic parking brake (EPB) function. The parking brake control is executed by two EMB modules. The EPB switch can be hardwired to the main MCU. At the same time, the obtained gear position signal is sent to the main MCU and the auxiliary MCU. When the main EPB switch fails or the main MCU fails, the auxiliary MCU can execute the EPB function by receiving the P gear request to complete the parking purpose.

[0052] As an optional embodiment, the electromechanical braking module is controlled to execute a failure degradation strategy in a degradation mode, including: based on the failed component in the failure degradation strategy, executing the corresponding service braking function and parking braking function in the electromechanical braking redundancy system, wherein the failed component is used to charge the electronic control unit and the electromechanical braking module; and in response to the service braking function and the parking braking function, controlling the vehicle's service braking deceleration or parking braking slope angle.

[0053] In this embodiment, the failed components may include main MCU failure, auxiliary MCU failure, EPB switch failure, failure of a single front axle EMB caliper, failure of a single rear axle EMB caliper, etc. The service brake function can be used to indicate normal, failed, or reduced by half, etc. The parking brake function can be used to indicate normal, failed, etc. This description only provides examples of failed components, service brake functions, and parking brake functions, and does not impose specific limitations on these functions.

[0054] In this embodiment, the electromechanical braking module can be controlled to execute a failure degradation strategy in the degradation mode. Based on the failed components in the failure degradation strategy, the corresponding service braking function and parking braking function in the electromechanical braking redundancy system are further executed, thereby controlling the vehicle's service braking deceleration or parking braking slope angle to achieve the purpose of parking the vehicle and improving the response speed of the braking system in the vehicle.

[0055] As an optional embodiment, the failed component includes at least a first battery and a second battery. The method further includes: supplying power to the main microcontroller unit, the auxiliary microcontroller unit, and the electromechanical braking module through the first battery and the second battery, wherein the multiple electromechanical braking modules are connected to each other through multiple power lines.

[0056] In this embodiment, the main microcontroller unit, auxiliary microcontroller unit, and electromechanical braking module can be powered by the first and second batteries. For example, the first and second batteries can be used to power the main microcontroller unit, auxiliary microcontroller unit, and four EMB modules. Each EMB module is a dual-winding motor controlled by a brushless motor, resulting in twice the number of power connection lines compared to a typical brushless motor; that is, each EMB module is connected by six power lines. This is merely an example and not a specific limitation.

[0057] As an optional embodiment, the method may further include: communication between multiple electronic control units and multiple electromechanical braking modules via a controller local area network bus, wherein the controller local area network bus includes at least multiple buses.

[0058] In this embodiment, the Controller Area Network (CAN) bus can be a proprietary CAN bus, and there are at least two CAN buses. When the primary CAN1 bus fails, the secondary CAN2 bus can continue to function normally. This example only illustrates the CAN bus and does not specify a particular number of CAN buses.

[0059] In this embodiment, the multiple electronic control units and the multiple electromechanical braking modules shown can communicate via a controller area network bus. For example, the main MCU and the auxiliary MCU communicate with the four EMB modules respectively via CAN1 and CAN2.

[0060] For example, the main MCU and the auxiliary MCU can receive vehicle status signals. When the main MCU fails to receive the vehicle status signal, the auxiliary MCU can continue to receive the vehicle status signal and continue to safely stop the vehicle. The main MCU and the auxiliary MCU can monitor each other's status through a private CAN bus. Wheel speed information is connected to their respective EMB modules and controlled. When the driver intends to brake, communication can be established between the pedal simulator and the two main MCUs through the CAN bus. The pedal simulator can output two travel signals and two pressure signals.

[0061] In this embodiment, based on the detection of the working state of the main microcontroller unit, if the working state is that the main microcontroller unit controls the electromechanical braking module, then the auxiliary microcontroller unit is prohibited from controlling the electromechanical braking module. If the working state is that the main microcontroller unit fails, then the auxiliary microcontroller unit can be controlled to control the electromechanical braking module. If the working state is that both the main microcontroller unit and the auxiliary microcontroller unit fail, then the electromechanical braking module can be controlled to enter a degraded mode. In the degraded mode, the electromechanical braking module executes a failure degradation strategy, enabling the redundant electromechanical braking system to further execute the service braking function and the parking braking function. This solves the technical problem of slow response speed of the braking system in the vehicle and achieves the technical effect of improving the response speed of the braking system in the vehicle.

[0062] Example 2

[0063] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0064] Currently, the mainstream braking systems for automobiles are hydraulic systems or electro-hydraulic hybrid systems. Due to the lack of a mature brake-by-wire solution, the braking system in vehicles has a slow response speed, which is a technical problem.

[0065] In one possible implementation, an EMB slave control system for an electric vehicle is proposed. This system includes a CAN bus, a primary node control system, and four secondary node control systems, each controlling the braking of one of the four wheels. The primary node control system includes an electronic brake pedal, a signal acquisition module, a primary microcontroller, and a primary CAN bus transceiver. The secondary node control systems include a secondary CAN bus transceiver, a secondary microcontroller, a drive unit, and an actuator motor. The secondary CAN bus transceiver receives control signals from the primary CAN bus transceiver via the CAN bus. This approach aims to address the slow braking response problem inherent in traditional hybrid air-hydraulic-mechanical braking systems. However, the above method still suffers from the technical issue of slow braking system response in vehicles.

[0066] In another possible implementation, an automotive EMB system control module is proposed. This module includes a central control unit, a first AD converter, a pedal pressure sensor, a pedal displacement sensor, and a second AD converter. The pedal displacement sensor and the pedal pressure sensor are connected to the central control unit via the first AD converter. The invention also includes an electric braking module, which is connected to the central control unit via the automotive CAN bus. This invention aims to address the problem of slow braking response caused by traditional hydraulic or pneumatic braking systems not being connected to the brake discs via the automotive CAN bus. However, the above methods still suffer from the technical problem of slow braking system response in vehicles.

[0067] In another possible implementation, a hybrid brake-by-wire system with front-wheel EHB and rear-wheel EMB is proposed. This system includes a braking system, a hydraulic brake-by-wire system, and a purely mechanical brake-by-wire system. The hydraulic regulating unit (HCU) in the hydraulic brake-by-wire system is connected to the reservoir, master cylinder, and pedal feel simulator in the braking system. The HCU is also connected to the front left and front right brakes in the braking system. The purely mechanical brake-by-wire system is mounted on the rear brakes. This system, using an EHB system on the front axle and an EMB system on the rear axle, effectively leverages the advantages of both braking systems. The front-wheel EHB system allows for single-wheel braking force adjustment, while the EHB on the front axle provides backup in case of brake failure to meet current regulations. The rear-wheel EMB system reduces the length of the brake lines, eliminating uncertainties caused by excessively long lines during pressure control, and facilitates electronic parking brake implementation. However, the above method still suffers from the technical problem of slow braking system response in the vehicle.

[0068] Figure 2 This is a schematic diagram of an EMB system structure according to an embodiment of the present invention, such as... Figure 2As shown, the structure may include: a main microcontroller unit 201, an auxiliary microcontroller unit 202, a first battery 203, a second battery 204, an electromechanical braking module 205, an emergency brake switch 206, and an electronic parking brake switch 207.

[0069] In embodiments of the present invention, there are a total of six controller modules, including two central electronic control unit (ECU) modules and four electromechanical brake (EMB) modules. The ECU module includes a main micro controller unit (MCU) and an auxiliary MCU.

[0070] The main microcontroller unit 201 and the auxiliary microcontroller unit 202 can be used to receive vehicle information. As the core control modules of the application layer algorithm, the main MCU and the auxiliary MCU can include anti-lock braking system, traction control system and vehicle dynamic control functions, as well as various additional functions.

[0071] The first battery 203 and the second battery 204 are used to achieve power redundancy. They can supply power to the main MCU and the auxiliary MCU respectively. At the same time, the two power supplies supply power to each of the four EMBs. Each EMB is a dual-winding motor. Since each EMB is controlled by a brushless motor, and the power connection wires used are twice that of ordinary brushless motors, each EMB has six power wires.

[0072] The electromechanical braking module 205 can receive the vehicle's wheel speed information and is equipped with four wheel-end EMB modules, which mainly drive the EMB brushless motors. At the same time, when both main MCUs and auxiliary MCUs fail simultaneously, the control ECU module enters degraded mode.

[0073] Emergency brake switch 206 allows the vehicle to be braked, and the parking function is disabled at this time.

[0074] The electronic parking brake switch 207 is used when an electric vehicle needs to be in P gear and automatically clamps the electronic parking brake switch for redundant parking.

[0075] Optionally, this EMB system architecture can achieve signal redundancy. The main MCU and auxiliary MCU communicate with the four EMB modules through Controller Area Network Bus 1 and CAN2, respectively. Both CANs are proprietary CANs. When the main CAN1 bus fails, the CAN2 bus operates. The main MCU and auxiliary MCU only receive vehicle status signals (such as ignition switch, gear position indicator, drive status, instrument display, etc.). When the main MCU fails, the auxiliary MCU can receive external signals and continue to safely stop the vehicle. The main MCU and auxiliary MCU can monitor each other's status (vehicle status signals) using the proprietary CAN. Wheel speed signals are connected to their respective EMB controls. For driver braking intention recognition, the driver pedal simulator and the two main ECUs currently communicate via CAN. The pedal simulator can output two travel signals and two pressure signals.

[0076] Optionally, this EMB system architecture can achieve control redundancy. Under normal circumstances, the four-wheel EMB control is performed by the main MCU, and the auxiliary MCU does not function. The auxiliary MCU can monitor the status of the main MCU. When the main MCU fails, the auxiliary MCU will take over the control of the four-wheel EMB. The four EMB controllers can communicate not only with the two main ECUs, but also with each other. When the two main ECUs fail simultaneously, the driver pulls the emergency brake button, and the four auxiliary EMBs enter degraded mode, executing a failure degrade strategy to clamp the vehicle with a small clamping force to ensure it stops.

[0077] Optionally, when implementing control redundancy, under normal vehicle operating conditions, the control of the four-wheel EMB mainly includes: service braking and parking braking. Service braking includes steady-state and unsteady-state braking. In steady-state braking, the main MCU controls the four-wheel EMB motors to stop the vehicle. Unsteady-state braking includes functions such as ABS, TCS, and VDC, which control the four EMBs by monitoring and adjusting the slip ratio to ensure vehicle stability. Parking braking mainly uses the locking function of the mechanical structure to lock the EMBs.

[0078] Optionally, when considering parking brake, the automatic clamping EPB function in P gear needs to be implemented. Parking brake control is executed by two rear EMBs. The EPB switch is hardwired to the main ECU. At the same time, the gear position signal is sent to both the main ECU and the auxiliary ECU. When the main EPB switch fails or the main ECU fails, the auxiliary ECU can perform EPB parking by receiving the P gear (parking gear) position request.

[0079] Optionally, the failure degradation strategy can include a single-point failure strategy and a multi-point failure strategy. Both strategies include the failed component, system function, and vehicle braking strategy. For example, when the failed component is the failure of the first battery or the failure of the second battery, the corresponding system function is that the four-wheel EMB service brake function is halved, while the parking brake function is normal. In this case, the corresponding vehicle braking strategy is that the deceleration of the service brake is 0.5g, the parking brake function is normal, and the parking slope is ≥30%. When the failed components are both the first battery and the second battery, the corresponding system function is that both the service and parking functions are failed, and the corresponding vehicle braking strategy is also that both the service and parking functions are failed.

[0080] Table 1 Single Point Failure Strategy Table

[0081]

[0082] Optionally, Table 1 is a single-point failure strategy and Table 2 is a multi-point failure strategy. As shown in Tables 1 and 2, different failure components are listed, along with the corresponding system functions and vehicle braking strategies.

[0083] In this embodiment, the EMB system structure consists of a main MCU, an auxiliary MCU, and four EMB modules. When the main MCU is working normally, it can control the EMB modules. When the main MCU fails, the auxiliary MCU can take over the control of the EMB modules. When both the main MCU and the auxiliary MCU fail, the EMB modules enter a degraded mode. In the degraded mode, the EMB modules execute a failure degradation strategy, thereby solving the technical problem of slow response speed of the braking system in the vehicle and achieving the technical effect of improving the response speed of the braking system in the vehicle.

[0084] Table 2 Multi-point Failure Strategy Table

[0085]

[0086] Example 3

[0087] According to an embodiment of the present invention, an electromechanical braking redundancy device is provided. It should be noted that this electromechanical braking redundancy device can be used to execute an electromechanical braking redundancy method as described in Embodiment 1.

[0088] Figure 3 This is a schematic diagram of an electromechanical braking redundancy device according to an embodiment of the present invention. Figure 3 As shown, an electromechanical braking redundancy device 300 may include: a detection unit 301, a first control unit 302, a second control unit 303, and an execution unit 304.

[0089] The detection unit 301 is used to detect the working status of the main microcontroller unit.

[0090] The first control unit 302 is used to control the electromechanical braking module in response to the working state of the main microcontroller unit, and to prohibit the auxiliary microcontroller unit from controlling the electromechanical braking module.

[0091] The second control unit 303 is used to control the auxiliary microcontroller to control the electromechanical braking module in response to the failure of the main microcontroller in the working state.

[0092] The execution unit 304 is used to control the electromechanical braking module to enter a degraded mode in response to the failure of the main microcontroller unit and the failure of the auxiliary microcontroller unit, and to control the electromechanical braking module to execute a failure degradation strategy in the degraded mode so that the electromechanical braking redundancy system can perform the service braking function and the parking braking function. The failure degradation strategy is used to represent the mapping relationship between the failed component in the electromechanical braking redundancy system and the vehicle braking strategy.

[0093] Optionally, the device may include a braking unit for applying service braking or parking braking to the electromechanical braking module.

[0094] Optionally, the braking unit may include: a first control module, configured to control the auxiliary microcontroller to receive a vehicle status signal in response to a failure of the main microcontroller, wherein the vehicle status signal includes at least a parking gear signal; and a first execution module, configured to execute an electronic parking brake function on the electronic control unit based on the parking gear signal in the vehicle status signal.

[0095] Optionally, the execution unit 304 includes: a second execution module, used to execute the corresponding service braking function and parking braking function in the electromechanical braking redundancy system based on the failed component in the failure degradation strategy, wherein the failed component is used to charge the electronic control unit and the electromechanical braking module; and a second control module, used to control the vehicle's service braking deceleration or parking braking slope angle in response to the service braking function and the parking braking function.

[0096] Optionally, the second execution module may include: a power supply module for supplying power to the main microcontroller unit, the auxiliary microcontroller unit, and the electromechanical braking module through the first and second batteries, wherein the multiple electromechanical braking modules are connected to each other through multiple power lines.

[0097] Optionally, the device may further include: a communication unit for communication between multiple electronic control units and multiple electromechanical braking modules via a controller local area network bus, wherein the controller local area network bus includes at least multiple buses.

[0098] In this embodiment, the electromechanical braking redundancy device can be applied to an electromechanical braking redundancy system. The system includes multiple electronic control units and multiple electromechanical braking modules. The multiple electronic control units include at least a main microcontroller unit and an auxiliary microcontroller unit. The device can include: a detection unit for detecting the operating state of the main microcontroller unit; a first control unit for controlling the electromechanical braking module in response to the main microcontroller unit's operating state and prohibiting the auxiliary microcontroller unit from controlling the electromechanical braking module; a second control unit for controlling the auxiliary microcontroller unit to control the electromechanical braking module in response to the failure of the main microcontroller unit; and an execution unit for controlling the electromechanical braking module to enter a degraded mode in response to the failure of both the main and auxiliary microcontroller units, and controlling the electromechanical braking module to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system can perform service braking and parking braking functions. The failure degradation strategy represents the mapping relationship between failed components in the electromechanical braking redundancy system and the vehicle braking strategy, thereby solving the technical problem of slow response speed in the vehicle's braking system and achieving the technical effect of improving the response speed of the vehicle's braking system.

[0099] Example 4

[0100] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute the electromechanical braking redundancy method of embodiment 1.

[0101] Example 5

[0102] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the electromechanical braking redundancy method in embodiment 1 during runtime.

[0103] Example 6

[0104] According to an embodiment of the present invention, an electronic device is also provided, which includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when one or more programs are executed by one or more processors, the electromechanical braking redundancy method of embodiment 1 is executed.

[0105] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0106] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0107] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0108] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0109] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0110] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0111] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A redundancy method for electromechanical braking, characterized in that, This invention relates to a redundant electromechanical braking system, comprising multiple electronic control units and multiple electromechanical braking modules. The multiple electronic control units include at least a main microcontroller unit and an auxiliary microcontroller unit, comprising: Detect the operating status of the main microcontroller unit; In response to the operating state where the main microcontroller unit controls the electromechanical braking module, the auxiliary microcontroller unit is prohibited from controlling the electromechanical braking module. In response to the failure of the main microcontroller unit in the operating state, the auxiliary microcontroller unit is controlled to control the electromechanical braking module; In response to the failure of both the primary microcontroller unit and the auxiliary microcontroller unit, the electromechanical braking module is controlled to enter a degraded mode, and the electromechanical braking module is controlled to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system can perform service braking and parking braking functions. The failure degradation strategy represents the mapping relationship between the failed component in the electromechanical braking redundancy system and the vehicle braking strategy. The failure degradation strategy includes a single-point failure strategy and a multi-point failure strategy. The single-point failure strategy includes: when the failed component is a first battery or a second battery... When the vehicle is in a parking brake state, the service brake deceleration is at the first preset value, the parking brake function is normal, and the parking brake angle is greater than the product of the second preset ratio value and the slope value. When the failed component is the main microcontroller unit or the auxiliary microcontroller unit, or when the failed component is the electronic parking brake function switch, the maximum service brake deceleration is at the fourth preset value, the parking brake function is normal, and the parking brake angle is greater than the product of the second preset ratio value and the slope value. When the failed component is a single front electromechanical brake caliper, the maximum service brake deceleration is greater than the fifth preset value. The parking brake function is normal, and the parking brake's parking angle is greater than the product of the second preset ratio value and the slope value. When the failed component is a single rear electromechanical brake caliper, the maximum deceleration of the service brake is greater than the first preset value, and the parking brake function is downgraded to single-caliper parking, with the parking brake's parking angle greater than the product of the first preset ratio value and the slope value. The multi-point failure strategy includes: when the failed components are the main microcontroller unit and the auxiliary microcontroller unit, the maximum deceleration of the service brake is the first preset value, and the parking brake function fails; when the failed components are two front electromechanical brake calipers... When the maximum deceleration of the service brake is greater than the second preset value, the parking brake function is normal. When the failed component is two rear electromechanical brake calipers, the maximum deceleration of the service brake is greater than the third preset value, and the parking brake function fails. The third preset value is less than the first preset value but greater than the second preset value. When the failed component is one front electromechanical brake caliper and one rear electromechanical brake caliper, the maximum deceleration of the service brake is greater than the second preset value, the parking brake function is downgraded to single caliper parking, and the parking slope angle of the parking brake is greater than the product of the first preset ratio value and the slope value.

2. The method according to claim 1, characterized in that, Controlling the electromechanical braking module includes: The electromechanical braking module is used for service braking or parking braking.

3. The method according to claim 2, characterized in that, Applying parking brake to the electromechanical braking module includes: In response to the failure of the main microcontroller unit, the auxiliary microcontroller unit is controlled to receive a vehicle status signal, wherein the vehicle status signal includes at least a parking gear signal; Based on the parking gear signal in the vehicle status signal, the electronic control unit performs the electronic parking brake function.

4. The method according to claim 1, characterized in that, The method further includes: The first battery and the second battery supply power to the main microcontroller unit, the auxiliary microcontroller unit, and the electromechanical braking module, wherein the multiple electromechanical braking modules are connected by multiple power lines.

5. The method according to any one of claims 1 to 4, characterized in that, The plurality of electronic control units and the plurality of electromechanical braking modules communicate with each other via a controller local area network bus, which includes at least a plurality of buses.

6. A redundant electromechanical braking device, characterized in that, This invention relates to a redundant electromechanical braking system, comprising multiple electronic control units and multiple electromechanical braking modules. The multiple electronic control units include at least a main microcontroller unit and an auxiliary microcontroller unit, comprising: The detection unit is used to detect the working status of the main microcontroller unit; The first control unit is configured to control the electromechanical braking module in response to the operating state of the main microcontroller unit, and to prohibit the auxiliary microcontroller unit from controlling the electromechanical braking module. The second control unit is used to control the auxiliary microcontroller to control the electromechanical braking module in response to the failure of the main microcontroller in the operating state. An execution unit is configured to, in response to the failure of the main microcontroller unit and the failure of the auxiliary microcontroller unit, control the electromechanical braking module to enter a degraded mode, and control the electromechanical braking module to execute a failure degradation strategy in the degraded mode, so that the electromechanical braking redundancy system can perform service braking and parking braking functions. The failure degradation strategy represents the mapping relationship between the failed component in the electromechanical braking redundancy system and the vehicle braking strategy. The failure degradation strategy includes a single-point failure strategy and a multi-point failure strategy. The single-point failure strategy includes: when the failed component is the first battery... When the first battery or second battery is present, the service braking deceleration is a first preset value, the parking brake function is normal, and the parking brake slope angle is greater than the product of a second preset ratio value and a slope value. When the failed component is the main microcontroller unit or the auxiliary microcontroller unit, or when the failed component is the electronic parking brake function switch, the maximum service braking deceleration is a fourth preset value, the parking brake function is faulty, the parking brake function is normal, and the parking brake slope angle is greater than the product of a second preset ratio value and a slope value. When the failed component is a single front electromechanical brake caliper, the maximum service braking deceleration is greater than... The fifth preset value is that the parking brake function is normal, and the parking brake slope angle is greater than the product of the second preset ratio value and the slope value; when the failed component is a single rear electromechanical brake caliper, the maximum deceleration of the service brake is greater than the first preset value, the parking brake function is downgraded to single caliper parking, and the parking brake slope angle is greater than the product of the first preset ratio value and the slope value; the multi-point failure strategy includes: when the failed components are the main microcontroller unit and the auxiliary microcontroller unit, the maximum deceleration of the service brake is the first preset value, and the parking brake function fails; when the failed components are two front electromechanical brake calipers... When the maximum deceleration of the service brake is greater than the second preset value, the parking brake function is normal; when the failed component is two rear electromechanical brake calipers, the maximum deceleration of the service brake is greater than the third preset value, and the parking brake function fails, wherein the third preset value is less than the first preset value but greater than the second preset value; when the failed component is one front electromechanical brake caliper and one rear electromechanical brake caliper, the maximum deceleration of the service brake is greater than the second preset value, the parking brake function is downgraded to single caliper parking, and the parking slope angle of the parking brake is greater than the product of the first preset ratio value and the slope value.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the electromechanical braking redundancy method according to any one of claims 1 to 5.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the electromechanical braking redundancy method according to any one of claims 1 to 5.

9. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the electromechanical braking redundancy method according to any one of claims 1 to 5.

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